Quaternion class. More...

#include <laeImu.h>

Public Member Functions
	Quaternion ()
	Default constructor.

	~Quaternion ()
	Destructor.

Quaternion	operator= (const Quaternion &rhs)
	Assignment operator. More...

void	clear ()
	Clear quaternion values.

void	convertEuler (double phi, double theta, double psi)
	Convert Euler angles to quaternion. More...

void	convertTaitBryan (double roll, double pitch, double yaw)
	Convert Tait-Bryan angles to quaternion. More...

Public Attributes
double	m_x
	x

double	m_y
	y

double	m_z
	z

double	m_w
	w

Detailed Description

Quaternion class.

Definition at line 118 of file laeImu.h.

Member Function Documentation

void Quaternion::convertEuler	(	double	phi,
		double	theta,
		double	psi
	)

Convert Euler angles to quaternion.

Parameters

phi	Angle between x axis and the N axis (radians).
theta	Angle between z axis and the Z axis (radians).
phi	Angle between N axis and the X axis (radians).

Definition at line 95 of file laeImu.cxx.

Referenced by ~Quaternion().

 {
   double half_phi, half_theta, half_psi;
   double cos_phi, sin_phi;
   double cos_theta, sin_theta;
   double cos_psi, sin_psi;
 
   half_phi   = phi / 2.0;
   half_theta = theta / 2.0;
   half_psi   = psi / 2.0;
 
   cos_phi   = cos(half_phi);
   sin_phi   = sin(half_phi);
   cos_theta = cos(half_theta);
   sin_theta = sin(half_theta);
   cos_psi   = cos(half_psi);
   sin_psi   = sin(half_psi);
 
   m_x = cos_phi*cos_theta*cos_psi + sin_phi*sin_theta*sin_psi;
   m_y = sin_phi*cos_theta*cos_psi - cos_phi*sin_theta*sin_psi;
   m_z = cos_phi*sin_theta*cos_psi + sin_phi*cos_theta*sin_psi;
   m_w = cos_phi*cos_theta*sin_psi - sin_phi*sin_theta*cos_psi;
 }

void Quaternion::convertTaitBryan	(	double	roll,
		double	pitch,
		double	yaw
	)

Convert Tait-Bryan angles to quaternion.

Parameters

roll	Rotation about the x-axis.
pitch	Rotation about the y-axis.
yaw	Rotation about the z-axis.

Definition at line 119 of file laeImu.cxx.

Referenced by sensor::imu::LaeImu::computeQuaternion(), and ~Quaternion().

 {
   double half_roll  = 0.5 * roll;
   double half_pitch = 0.5 * pitch;
   double half_yaw   = 0.5 * yaw;
 
   double t0 = cos(half_yaw);
   double t1 = sin(half_yaw);
   double t2 = cos(half_roll);
   double t3 = sin(half_roll);
   double t4 = cos(half_pitch);
   double t5 = sin(half_pitch);
 
   m_w = t0 * t2 * t4 + t1 * t3 * t5;
   m_x = t0 * t3 * t4 - t1 * t2 * t5;
   m_y = t0 * t2 * t5 + t1 * t3 * t4;
   m_z = t1 * t2 * t4 - t0 * t3 * t5;
 }

Quaternion Quaternion::operator= ( const Quaternion & rhs )

Assignment operator.

Parameters

rhs	Right hand side object.

Returns: Returns copy of this.

Definition at line 77 of file laeImu.cxx.

References m_w, m_x, m_y, and m_z.

Referenced by ~Quaternion().

 {
   m_x = rhs.m_x;
   m_y = rhs.m_y;
   m_z = rhs.m_z;
   m_w = rhs.m_w;
 
   return *this;
 }

The documentation for this class was generated from the following files:

include/Laelaps/laeImu.h
sw/liblaelaps/laeImu.cxx

Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation